Abstract
Positioning systems are often subject to position-domain disturbances: these are periodic in the position domain yet can appear a-periodic in the time domain. The aim of this paper is to develop a position-domain repetitive control approach that allows to attenuate disturbances with arbitrary varying period. The key idea is to implement a memory loop in the position domain on the basis of non-equidistantly distributed observations, which are inherent to the position domain. An experimental validation on an industrial substrate carrier shows a major performance improvement for a large range of velocities.
Original language | English |
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Title of host publication | IEEE 16th International Workshop on Advanced Motion Control |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 331-336 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-7281-3189-4 |
DOIs | |
Publication status | Published - 10 Nov 2020 |
Event | 16th IEEE International Workshop on Advanced Motion Control, AMC 2020 - University of Agder, Campus Kristiansand, Kristiansand, Norway Duration: 14 Sept 2020 → 16 Sept 2020 Conference number: 16 https://ewh.ieee.org/conf/amc/2020/index.html |
Conference
Conference | 16th IEEE International Workshop on Advanced Motion Control, AMC 2020 |
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Abbreviated title | AMC 2020 |
Country/Territory | Norway |
City | Kristiansand |
Period | 14/09/20 → 16/09/20 |
Internet address |